CN112492545B - Internet vehicle safety authentication method based on V2X - Google Patents
Internet vehicle safety authentication method based on V2X Download PDFInfo
- Publication number
- CN112492545B CN112492545B CN202011376951.0A CN202011376951A CN112492545B CN 112492545 B CN112492545 B CN 112492545B CN 202011376951 A CN202011376951 A CN 202011376951A CN 112492545 B CN112492545 B CN 112492545B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- data
- internet
- networked
- internet vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/06—Authentication
Abstract
The application discloses a safety certification method for an online vehicle based on V2X, which is used for solving the problem of how to effectively utilize sensing equipment and an artificial intelligence technology to realize the safety certification of the V2X online vehicle in the prior art. The method comprises the following steps: the method comprises the steps that structured data obtained by collecting external environment information through sensing equipment are combined with local information of a first internet vehicle to form first internet vehicle data, the first internet vehicle data are sent to an external object, and the validity of the identity of the first internet vehicle is authenticated in a challenge response mode; if the authentication result is valid, obtaining the data of the external object according to the authentication result, and authenticating the validity of the external object according to the data of the external object in a challenge response mode; and if the authentication result is valid, establishing trust between the first networked vehicle and the external object, and continuously exchanging shared data within the coverage range of the external object.
Description
Technical Field
The application relates to the field of Internet of vehicles and V2X, in particular to an Internet vehicle safety authentication method based on V2X.
Background
When a vehicle runs on a road, navigation generally guides people to enable people to go out more conveniently, but the navigation function is limited, the surrounding vehicles and pedestrians cannot be perceived, and the vehicle cannot be cooperated with external things.
In the prior art, the V2X technology is utilized to realize the perception synergy of the vehicle and external objects, so that the vehicle safety is improved, better travel experience is brought, and the method is an important application of the Internet of things in the vehicle driving scene.
However, at present, because V2X manufacturers and operators are different, vehicles can only collect data individually, and cannot share information with each other, so that the information utilization rate is low, and thus, to a certain extent, the vehicle cannot know the conditions of surrounding vehicles, and cannot provide effective services.
Disclosure of Invention
The invention provides a V2X-based online vehicle safety certification method, which solves the problem of how to effectively utilize sensing equipment and artificial intelligence technology to realize V2X online vehicle safety certification and further complete the data transmission and sharing of online vehicles in an area.
A safety certification method for networked vehicles based on V2X is characterized by comprising the following steps:
the method comprises the steps of acquiring external environment information through sensing equipment to form structured data, combining the structured data with local information of a first internet vehicle to form first internet vehicle data, and sending the first internet vehicle data to an external object, wherein the external object comprises: the road side unit, the second networked vehicle and the pedestrian;
receiving the first internet vehicle data, authenticating the validity of the identity of the first internet vehicle in a challenge response mode, and feeding back an authentication result to the first internet vehicle;
if the authentication result is valid, obtaining the data of the external object according to the authentication result, and authenticating the validity of the external object according to the data of the external object in a challenge response mode to obtain the authentication result;
and if the authentication result is valid, establishing trust between the first networked vehicle and the external object, and continuously exchanging shared data within the coverage range of the external object.
Optionally, the receiving the first internet vehicle data, authenticating validity of the identity of the first internet vehicle in a challenge response manner, and feeding back an authentication result to the first internet vehicle specifically includes:
when a first internet vehicle enters a certain area, establishing a trust network by taking the first internet vehicle as a center, and if a road side unit exists in the area, sending an authentication message to the road side unit by the first internet vehicle to provide first internet vehicle data;
receiving the first internet vehicle data, estimating the general driving position of the first internet vehicle according to the existing credible data related to the first internet vehicle locally at the road side unit in a challenge response mode and in combination with the vehicle data acquired by the road side unit through sensing equipment, comprehensively judging and authenticating the validity of the first internet vehicle, and feeding back an authentication result to the first internet vehicle;
the first networked vehicle data includes: the identity data, the appearance and the position information of the first networked vehicle are data obtained by acquiring the external partial environmental condition of the first networked vehicle through information acquisition equipment and structuring the environmental condition through a neural network model of a vehicle computing unit;
the vehicle data includes: license plate data, vehicle color, vehicle appearance data, and vehicle conditions around the vehicle.
Optionally, if the authentication result is valid, obtaining data of the external object according to the authentication result, and authenticating the validity of the external object according to the data of the external object in a challenge response manner to obtain the authentication result, specifically including:
if the identity of the first internet vehicle is authenticated to be valid, road side unit data is provided for the first internet vehicle;
according to the existing credible data related to the road side unit in the first networked vehicle, and in combination with the road side unit data, authenticating the validity of the road side unit in a challenge response mode to obtain an authentication result;
the road side unit data includes: the identity data and the basic condition of the road side unit and the acquired structured data of the vehicle condition in the peripheral range of the first networked vehicle are obtained.
Optionally, if the identity of the first internet vehicle is authenticated to be invalid, a second internet vehicle around the first internet vehicle receives the first internet vehicle data, estimates the general driving position of the first internet vehicle according to the existing local credible data of the second internet vehicle related to the first internet vehicle and vehicle data collected by the second internet vehicle through sensing equipment, comprehensively judges and authenticates the validity of the first internet vehicle, obtains an authentication result, and feeds the authentication result back to the first internet vehicle.
Optionally, if the second internet vehicle authenticates that the identity of the first internet vehicle is valid, providing second internet vehicle data;
according to the existing local credible data of the first networked vehicle related to the road side unit and the second networked vehicle data, the validity of the second networked vehicle is authenticated, and an authentication result is obtained;
the second networked vehicle data includes: and the identity data, the vehicle appearance and the position information of the second networked vehicle are data obtained by acquiring partial environment conditions outside the vehicle through acquisition equipment and structuring the environment conditions through a neural network model of a vehicle computing unit.
Optionally, if the local data of the second internet vehicle is insufficient and the validity of the first internet vehicle cannot be judged, the first internet vehicle data provided by the first internet vehicle is sent to a road side unit and a third internet vehicle which are trusted by the second internet vehicle and are in the periphery of the first internet vehicle, so as to assist in authenticating the validity of the first internet vehicle.
Optionally, the road side unit and a third networked vehicle which are trusted by the second networked vehicle and are in the periphery of the first networked vehicle authenticate the first networked vehicle according to the received data, and feed back the relevant data and the authentication result to the second networked vehicle.
Optionally, if the authentication result is valid, the establishing trust between the first internet vehicle and the external object specifically includes:
and completing road condition assistance through reminding information between the networked vehicles achieving trust and between the networked vehicles and the road side unit, setting trust levels of both parties, and sharing self data according to the trust levels.
Optionally, before the first internet vehicle leaves a factory, trusted V2X participant data is preset for the first internet vehicle, and the V2X participant data is updated in an online or offline manner.
Optionally, information of the external object successfully mutually authenticated with the first internet vehicle is uploaded to the cloud data center internet of vehicles platform.
The invention provides a V2X-based networking vehicle safety certification method, which comprises the steps of collecting information of surrounding vehicles and V2X-RSU infrastructure through sensing equipment such as a high-definition camera, a laser radar and a high-precision positioning device, fusing multi-sensor data by utilizing technologies such as image recognition, deep learning and artificial intelligence to form structured data, broadcasting part of the data to V2X participants around the vehicles, and completing safety certification by utilizing data actually observed by V2X communication parties through a challenge response mode; compared with the traditional mode, mutual authentication between different car factories and different operators is effectively achieved through a mode of adding intelligent analysis based on credible data from a credible vehicle and data collected by local sensing equipment; the trusted identity sharing is completed by the trusted vehicle transmitting the authenticated trusted identity data and the blacklist, the vehicle networking in a larger range in the driving area is realized, the sensing cooperation is realized while the sensing range is increased, and the overall driving safety of the vehicle is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flow chart of a V2X-based online vehicle security authentication method according to an embodiment of the present application.
Fig. 2 is a schematic diagram illustrating a data transmission relationship between the V2X networked vehicles according to this embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in detail and completely with reference to the following specific embodiments. It should be apparent that the described embodiments are only a few embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the prior art, vehicle-to-outside information exchange (V2X) is a general term of Vehicle-to-Vehicle communication (V2V), vehicle-to-Infrastructure communication (V2I), vehicle-to-Pedestrian communication (V2P), and the like, and by mounting advanced Vehicle-mounted sensors, controllers, actuators, and other devices, a modern communication and network technology are integrated, so that exchange and sharing of Vehicle and X (Pedestrian, vehicle, roadside unit, background, and the like) intelligent information is realized, a series of traffic data such as real-time road conditions, and Pedestrian positions are obtained, and thus, an environment signal beyond a visual range is brought, and meanwhile, the Vehicle-to-outside information exchange and network technology can interact with surrounding infrastructures such as traffic lights, road signs, and the like, and the Vehicle-to-outside information exchange system has complex functions of environmental perception, intelligent decision making, cooperative control, execution, and the like, and provides a safer, more energy-saving, more environment-friendly, and more comfortable driving mode, and is an important application in the internet of things.
In recent years, the development of artificial intelligence technology and car networking technology is rapid, the development of the traditional automobile industry towards intellectualization and networking is promoted, the traditional vehicles are upgraded, sensing devices such as high-definition cameras, laser radars and high-precision positioning devices are added, and the driving safety of a single vehicle is improved. The V2X technology carries out networking on a plurality of vehicles, realizes perception cooperation, and brings better travel experience while promoting vehicle safety. At present, because V2X manufacturers and operators are different, data cannot be shared among different vehicles, so that mutual authentication needs to be realized among the V2X vehicles, and mutual trust of the vehicles in an area is completed. Under the circumstance, how to effectively utilize vehicle sensing equipment and an artificial intelligence technology to realize the safety certification among the V2X networking vehicles and further finish the trust propagation and sharing of the vehicles in the area to the data becomes a problem which needs to be solved urgently.
The solution of the present application can solve the above problems, which will be described in detail below.
Fig. 1 is a schematic flow chart of a V2X-based online vehicle security authentication method provided in an embodiment of the present application, and the method may include the following steps:
a safety certification method for networked vehicles based on V2X is characterized by comprising the following steps:
the method comprises the steps of acquiring external environment information through sensing equipment to form structured data, combining the structured data with local information of a first internet vehicle to form first internet vehicle data, and sending the first internet vehicle data to an external object, wherein the external object comprises: the road side unit, the second networked vehicle and the pedestrian;
receiving the first internet vehicle data, authenticating the validity of the identity of the first internet vehicle in a challenge response mode, and feeding back an authentication result to the first internet vehicle;
if the authentication result is valid, obtaining the data of the external object according to the authentication result, and authenticating the validity of the external object according to the data of the external object in a challenge response mode to obtain the authentication result;
and if the authentication result is valid, establishing trust between the first networked vehicle and the external object, and continuously exchanging shared data within the coverage range of the external object.
In one embodiment of the application, sensing equipment such as a high-definition camera, a laser radar and a high-precision positioning device are used for collecting information of surrounding vehicles and roadside V2X-RSU infrastructure, vehicle identity data are provided by both the V2X internet-connected vehicle and external objects in a challenge response mode, identity validity is authenticated through intelligent analysis based on credible data from the external objects and data collected by local sensing equipment, identity authentication of both the vehicles can be effectively completed in the challenge response mode under the condition that no secret is revealed, and eavesdropping and replay attack can be prevented by using the challenge response mode. In the traditional authentication, once you hear the password, you can impersonate your identity, and sometimes even if you do not know the password, you can impersonate your identity by recording the last authentication information and replaying the authentication information again, for example, the identity is replay attack by using a photo, a recorded voice to cheat a human face and voiceprint recognition. Challenge data exchanged by V2X participant authentication are all from external observation data, only partial data is provided, and meanwhile data desensitization is carried out, so that the privacy of a client is effectively protected while the authenticity of a challenge response is ensured.
Fig. 2 is a schematic diagram of data transmission relationships between V2X networked vehicles, including data transmission relationships between networked vehicles and surrounding vehicles, pedestrians, road side units, and cloud data platforms. The first internet vehicle, namely the internet vehicle a, collects data information of external objects including surrounding vehicles, pedestrians and information of a V2X-RSU (Road Side Unit) infrastructure through sensing devices such as a high definition camera, a laser radar and a high precision positioning device, fuses multi-sensor data by using technologies such as image recognition, deep learning and artificial intelligence, integrates and structurizes the collected data information of the external objects to form structured data, and broadcasts partial data to surrounding V2X participants of the vehicles.
The V2X network unit realizes data transmission between the networked vehicles and nodes in the V2X network, and comprises data exchange between the V2V networked vehicles, data exchange between the V2I networked vehicles and the road sides, and data exchange between the V2P networked vehicles and pedestrians. The high-definition camera shoots a scene image around the vehicle; the high-precision positioning device acquires position data of the networked vehicle; the networked vehicle computing unit has artificial intelligence computing capability, collects data such as high-definition camera data, laser radar data and high-precision positioning data, performs intelligent analysis, and integrates to form structured data. Scanning by a laser radar to obtain point cloud data; point cloud data refers to a collection of vectors in a three-dimensional coordinate system. These vectors are usually expressed in the form of X, Y, Z three-dimensional coordinates, and are generally mainly used to represent the shape of the external surface of an object, and besides the geometric location information represented by (X, Y, Z), the point cloud data may also represent the RGB color (red, green, blue, which is a color standard in the industry), the gray value, the depth, the segmentation result, etc. of a point, and the point cloud data may be mathematically used to accurately describe the implementation of the algorithm, and the effect is predictable.
The infrastructure of the road side unit has strong calculation and network capacity, sensing devices such as a high-definition camera and a laser radar with higher installation performance are installed, a V2X communication function is provided, vehicles in a road side unit coverage area can communicate through V2X, and meanwhile data exchange can be realized between the roadbed unit and the cloud data center; the cloud data center calculates a large amount of storage resources, exchanges data with the road side unit infrastructure, realizes unified management and real-time monitoring of the road side unit infrastructure, and provides effective identity information of the road side unit and the vehicle for the networked vehicles and the road side unit.
If the road side unit exists around the networked vehicle A, the networked vehicle A sends a message to the road side unit to request authentication, and provides basic conditions such as identity data, vehicle appearance, position information and the like of the networked vehicle A and structured data, namely, the data is obtained by collecting the external partial environment condition of the networked vehicle A through equipment such as a camera, a laser radar and the like and carrying out structuring through a neural network model of a networked vehicle computing unit.
The method comprises the steps that a road side unit receives information of a first internet vehicle, namely an internet vehicle A, estimates the general running position of the internet vehicle A according to existing credible data related to the internet vehicle A on the road side locally and information such as license plate data, vehicle color, vehicle appearance data and surrounding vehicle conditions collected by the road side unit through a camera, a laser radar and other sensing devices, comprehensively judges the validity of the authentication internet vehicle A, and feeds an authentication result back to the internet vehicle A; if the road side unit authenticates that the identity of the internet vehicle A is invalid, namely the internet vehicle A is illegal, the internet vehicle A judges whether to reinitiate the trust authentication process, and if the authentication is confirmed to be reinitiated, the internet vehicle A sends the authentication message to the road side unit again; and if the identity of the vehicle A of the internet of things is authenticated to be valid, providing the identity data and the basic condition of the road side unit and the acquired structural data of the vehicle condition of the vehicle in the peripheral range of the vehicle A of the internet of things.
The method comprises the steps that a networked vehicle A receives data from a road side unit, if the road side unit trusts the networked vehicle A, the networked vehicle A authenticates the legality and validity of the road side unit according to the existing local trusted data of the vehicle related to the road side unit and by combining with surrounding vehicle data fed back by the road side unit, if the road side unit is authenticated to be valid, the two parties establish a trust connection, and through authentication, the trusted vehicle and the vehicle and road side unit can share road condition information.
The CNN convolutional neural network can be adopted to extract video data from multiple cameras, a neural network model is designed to extract environmental characteristic data in laser radar point cloud data, and data collected by the cameras and the point cloud data are fused. The trust certification can be realized by the vehicle appearance characteristics obtained by the coincidence of the vehicle surrounding environment characteristics, the video acquisition and the laser radar, and the positioning device is combined to estimate the surrounding vehicle positioning data, so that the result is obtained by comprehensive judgment.
Optionally, receiving data of the first internet vehicle, authenticating validity of the identity of the first internet vehicle in a challenge response manner, and feeding back an authentication result to the first internet vehicle, specifically including:
when a first internet vehicle enters a certain area, establishing a trust network by taking the first internet vehicle as a center, and if a road side unit exists in the area, sending an authentication message to the road side unit by the first internet vehicle to provide first internet vehicle data;
in an embodiment of the application, the networked vehicle a enters a certain area, a trust network is established by taking the networked vehicle as a center, if a road side unit exists around the networked vehicle a, the networked vehicle a sends a message to the road side unit to request authentication, basic conditions such as identity data, vehicle appearance, position information and the like of the networked vehicle a and structured data are provided, namely, the external partial environment conditions of the networked vehicle a are collected through equipment such as a camera, a laser radar and the like, and the structured data are obtained through a neural network model of a networked vehicle computing unit.
Receiving first internet vehicle data, estimating the general driving position of a first internet vehicle according to the existing local credible data of a road side unit related to the first internet vehicle and the vehicle data collected by the road side unit through sensing equipment in a challenge response mode, comprehensively judging and authenticating the effectiveness of the first internet vehicle, and feeding an authentication result back to the first internet vehicle;
the roadside unit receives the information of the networked vehicle A, estimates the general driving position of the networked vehicle A according to the existing credible data of the roadside local and related to the networked vehicle A, namely the information locally stored by the roadside unit and related to the networked vehicle A, and combines the license plate data, the vehicle color, the vehicle appearance data, the surrounding vehicle conditions and other information of the networked vehicle A, which are collected by the roadside unit through sensing equipment such as a camera, a laser radar and the like, comprehensively judges the validity of the authenticated networked vehicle A, confirms whether the networked vehicle is a legal vehicle and other information, and feeds an authentication result back to the networked vehicle A; if the road side unit authenticates that the identity of the internet vehicle A is invalid, namely, the internet vehicle A is illegal, the internet vehicle A judges whether to reinitiate the trust authentication process, and if the fact that the authentication is reinitiated is confirmed, the internet vehicle A sends the authentication message to the road side unit again. And if the identity of the vehicle A of the internet of things is authenticated to be valid, providing the identity data and the basic condition of the road side unit and the acquired structural data of the vehicle condition of the vehicle in the peripheral range of the vehicle A of the internet of things.
The first networked vehicle data includes: the identity data, the appearance and the position information of the first networked vehicle are data obtained by acquiring partial external environmental conditions of the first networked vehicle through information acquisition equipment and structuring the environmental conditions through a neural network model of a vehicle computing unit; the vehicle data includes: license plate data, vehicle color, vehicle appearance data, and its surrounding vehicle conditions.
Optionally, if the authentication result is valid, obtaining data of the external object according to the authentication result, and authenticating, in a challenge response manner, validity of the external object according to the data of the external object to obtain the authentication result, specifically including:
if the identity of the first internet vehicle is authenticated to be valid, road side unit data is provided for the first internet vehicle;
according to the existing credible data related to the road side unit in the first networked vehicle, and in combination with the road side unit data, authenticating the validity of the road side unit in a challenge response mode to obtain an authentication result;
the rsu data includes: the identity data and the basic condition of the road side unit and the acquired structured data of the vehicle condition in the peripheral range of the first networked vehicle are obtained.
In an embodiment of the application, if the road side unit authenticates the internet vehicle a successfully, the internet vehicle a receives data from the road side unit, and authenticates the legality and validity of the road side unit by combining the peripheral vehicle data fed back by the road side unit according to the existing credible data locally related to the road side unit of the vehicle, if the identity of the road side unit is authenticated to be valid, the two parties establish trust connection, and through authentication, the two parties continuously share data in the coverage range of the road side unit, wherein the shared data includes the route information of the vehicle, the road condition information in the coverage range of the road side unit, a vehicle blacklist and the like.
Optionally, if the identity of the first internet vehicle is authenticated to be invalid, a second internet vehicle around the first internet vehicle receives the data of the first internet vehicle, estimates the general driving position of the first internet vehicle according to the existing local credible data of the second internet vehicle related to the first internet vehicle and the vehicle data collected by the second internet vehicle through the sensing device, comprehensively judges the validity of the first internet vehicle, obtains the authentication result, and feeds the authentication result back to the first internet vehicle.
In an embodiment of the application, the road side unit fails to authenticate the validity of the identity of the internet vehicle a, then the internet vehicle a may choose to send the authentication message to the road side unit again, or may choose to send the authentication message to the surrounding vehicles, and the internet vehicle a sends the authentication message to the second internet vehicle, that is, the internet vehicle B, and provides the first internet vehicle data, that is, the identity data, the appearance and the position information of the internet vehicle a, collects the external partial environmental condition of the first internet vehicle through the information collection device, and structures the environmental condition through the neural network model of the vehicle calculation unit. And the networked vehicle B receives the authentication message and the related data, acquires information such as license plate data, vehicle color, vehicle appearance data and surrounding vehicle conditions of the networked vehicle A by combining with sensing equipment such as a camera, a laser radar and the like according to the existing local credible data related to the vehicle, estimates the general driving position of the vehicle and comprehensively judges and verifies the effectiveness of the networked vehicle A.
Optionally, if the identity of the first internet vehicle is authenticated to be valid, providing second internet vehicle data;
according to the existing local credible data related to the road side unit of the first networked vehicle and the data of the second networked vehicle, the validity of the second networked vehicle is authenticated, and an authentication result is obtained;
the second networked vehicle data includes: and the identity data, the vehicle appearance and the position information of the second networked vehicle are acquired through acquisition equipment, and the environmental conditions are structured through a neural network model of a vehicle computing unit.
In an embodiment of the application, if the internet vehicle B successfully authenticates the internet vehicle a, the internet vehicle a receives data from the internet vehicle B, and authenticates the legitimacy and validity of the internet vehicle B according to the existing local trusted data of the vehicle, which is related to the internet vehicle B, and simultaneously combines the peripheral vehicle data fed back by the internet vehicle B, if the identity of the internet vehicle B is authenticated to be valid, the two parties establish a trust relationship, and the authentication result is fed back to the road side unit through the authentication to indicate the validity of the internet vehicle a, and the two parties continuously share data within the coverage range of the road side unit and the internet vehicle B, where the shared data includes the distance information of the vehicle, road condition information within the coverage range of the internet vehicle B, a vehicle blacklist, and the like.
Optionally, if the local data of the second networked vehicle is insufficient and the validity of the first networked vehicle cannot be judged, the first networked vehicle data provided by the first networked vehicle is sent to the road side unit and the third networked vehicle which are trusted by the second networked vehicle and are around the first networked vehicle, so as to assist in authenticating the validity of the first networked vehicle. And the road side unit and the third networked vehicle which are trusted by the second networked vehicle and are arranged around the first networked vehicle authenticate the first networked vehicle according to the received data, and feed back the relevant data and the authentication result to the second networked vehicle.
In an embodiment of the application, if the local data of the networked vehicle B is insufficient and cannot be judged, the data provided by the networked vehicle a is sent to the road side unit and the networked vehicle C which are trusted by the networked vehicle B and are around the vehicle a to assist authentication; and B, authenticating A by the road side units and the networked vehicles C which are trusted by the networked vehicle B and are arranged around A according to the received data, and feeding back the authentication result and the related data to the networked vehicle B. The networked vehicle B receives the feedback data and comprehensively judges and verifies the validity of the networked vehicle A; and if the identity of the networked vehicle A is verified to be credible, basic conditions such as identity data, vehicle appearance and position information of the networked vehicle B and data acquired by equipment such as a camera and a laser radar and obtained by structuring the external part environment condition of the vehicle through a neural network model of the vehicle computing unit are provided at the same time. The networked vehicle A receives the data of the networked vehicle B, comprehensively judges and verifies the validity of the networked vehicle B, sets a trust level if the identity of the networked vehicle B is verified to be valid, and the two parties reach a trust relationship and can continuously exchange trust data and vehicle condition data around the vehicle in the coverage range of the road side unit; otherwise, feeding back the authentication failure message to the Internet vehicle A.
Optionally, if the authentication result is valid, establishing trust between the first networked vehicle and the external object specifically includes:
and road condition assistance is completed through reminding information between the networked vehicles achieving trust and between the networked vehicles and the road side units, trust levels of the two parties are set, and self data are shared according to the trust levels.
In one embodiment of the application, the networked vehicle A receives data of the networked vehicle B, the validity of the networked vehicle B is comprehensively judged and verified, if the identity of the networked vehicle B is verified to be credible, a trust level is set, the two parties reach a trust relationship, and trust data and vehicle surrounding condition data can be continuously exchanged within the coverage range of the road side unit; otherwise, feeding back the authentication failure message of the internet vehicle. The trust level is divided according to the V2X scene, for example, the trust levels required by vehicle avoidance, information reminding and vehicle cooperation are sequentially increased. According to the trust level, the trust roadside unit and the vehicle identity information are shared, the trust propagation speed is increased, the local trust identity data are continuously updated along with the change of the vehicle position, a more efficient cooperative vehicle fleet can be formed through the shared stroke, personalized vehicle-vehicle cooperation and vehicle-road cooperation are realized, and better travel experience is brought while the vehicle safety is improved.
Optionally, before the first internet vehicle leaves the factory, trusted V2X participant data is preset for the first internet vehicle, and the V2X participant data is updated in an online or offline manner.
In an embodiment of the application, an automobile OEM manufacturer presets trusted vehicles, road side units and cloud data center Internet of vehicles platform information for the Internet vehicles when new vehicles leave a factory, the Internet vehicles regularly update trusted V2X participant information through a 4S shop, and the Internet vehicles can also be connected to the cloud data center Internet of vehicles platform through a network to update the trusted V2X participant information at any time.
Optionally, information of the external object successfully mutually authenticated with the first internet vehicle is uploaded to the cloud data center internet of vehicles platform.
In an embodiment of the application, the internet vehicle can upload trusted road side units and internet vehicle information to the cloud data center internet of vehicles platform through the internet, and when the internet vehicle authenticates, the vehicle information can be obtained from the cloud data center at any time, so that the authentication speed is increased.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (8)
1. A safety certification method for networked vehicles based on V2X is characterized by comprising the following steps:
the method comprises the steps of acquiring external environment information through sensing equipment to form structured data, combining the structured data with local information of a first internet vehicle to form first internet vehicle data, and sending the first internet vehicle data to an external object, wherein the external object comprises: road side units, second networked vehicles and pedestrians;
receiving the first internet vehicle data, authenticating the validity of the identity of the first internet vehicle in a challenge response mode, and feeding back an authentication result to the first internet vehicle;
if the authentication result is valid, obtaining the data of the external object according to the authentication result, and authenticating the validity of the external object according to the data of the external object in a challenge response mode to obtain the authentication result;
if the authentication result is valid, establishing trust between the first networked vehicle and the external object, and continuously exchanging shared data within the coverage range of the external object;
receiving the first internet vehicle data, authenticating the validity of the identity of the first internet vehicle in a challenge response mode, and feeding back an authentication result to the first internet vehicle, wherein the authentication method specifically comprises the following steps:
when a first internet vehicle enters a certain area, establishing a trust network by taking the first internet vehicle as a center, and if a road side unit exists in the area, sending an authentication message to the road side unit by the first internet vehicle to provide first internet vehicle data;
receiving the first internet vehicle data, estimating the general driving position of the first internet vehicle according to the existing credible data related to the first internet vehicle locally at the road side unit in a challenge response mode and in combination with the vehicle data acquired by the road side unit through sensing equipment, comprehensively judging and authenticating the validity of the first internet vehicle, and feeding back an authentication result to the first internet vehicle;
the first networked vehicle data includes: the identity data, the appearance and the position information of the first networked vehicle are data obtained by acquiring the external partial environmental condition of the first networked vehicle through information acquisition equipment and structuring the environmental condition through a neural network model of a vehicle computing unit;
the vehicle data includes: license plate data, vehicle color, vehicle appearance data, and vehicle conditions around the vehicle;
if the authentication result is valid, obtaining data of the external object according to the authentication result, authenticating the validity of the external object according to the data of the external object in a challenge response mode, and obtaining the authentication result, specifically comprising:
if the identity of the first internet vehicle is authenticated to be valid, road side unit data is provided for the first internet vehicle;
according to the existing credible data related to the road side unit in the first networked vehicle, and in combination with the road side unit data, authenticating the validity of the road side unit in a challenge response mode to obtain an authentication result;
the road side unit data includes: the identity data and the basic condition of the road side unit and the acquired structured data of the vehicle condition in the peripheral range of the first networked vehicle are obtained.
2. The method of claim 1, further comprising:
if the identity of the first internet vehicle is authenticated to be invalid, second internet vehicles around the first internet vehicle receive the first internet vehicle data, the general driving position of the first internet vehicle is estimated according to the existing credible data of the second internet vehicle locally related to the first internet vehicle and the vehicle data collected by the second internet vehicle through sensing equipment, the validity of the first internet vehicle is comprehensively judged and authenticated, the authentication result is obtained, and the authentication result is fed back to the first internet vehicle.
3. The method of claim 2, further comprising:
if the second internet vehicle authenticates the identity of the first internet vehicle as valid, providing second internet vehicle data;
according to the existing local credible data of the first networked vehicle related to the road side unit and the second networked vehicle data, the validity of the second networked vehicle is authenticated, and an authentication result is obtained;
the second networked vehicle data includes: and the identity data, the vehicle appearance and the position information of the second networked vehicle are data obtained by acquiring partial environment conditions outside the vehicle through acquisition equipment and structuring the environment conditions through a neural network model of a vehicle computing unit.
4. The method of claim 2, further comprising:
if the local data of the second internet vehicle is insufficient and the validity of the first internet vehicle cannot be judged, the first internet vehicle data provided by the first internet vehicle is sent to the road side unit and a third internet vehicle which are trusted by the second internet vehicle and are arranged around the first internet vehicle to assist in authenticating the validity of the first internet vehicle.
5. The method of claim 4, further comprising:
and the road side unit and the third internet vehicle which are trusted by the second internet vehicle and are arranged around the first internet vehicle authenticate the first internet vehicle according to the received data, and feed back the relevant data and the authentication result to the second internet vehicle.
6. The method according to claim 1, wherein if the authentication result is valid, the establishing trust between the first networked vehicle and the external object specifically includes:
and completing road condition assistance through reminding information between the networked vehicles achieving trust and between the networked vehicles and the road side unit, setting trust levels of both parties, and sharing self data according to the trust levels.
7. The method of claim 1, further comprising:
and before the first internet vehicle leaves a factory, presetting trusted vehicle-to-outside information exchange V2X participant data for the first internet vehicle, and updating the V2X participant data in an online or offline mode.
8. The method of claim 1, further comprising:
and uploading the information of the external object successfully mutually authenticated with the first internet vehicle to the cloud data center internet of vehicles platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011376951.0A CN112492545B (en) | 2020-11-30 | 2020-11-30 | Internet vehicle safety authentication method based on V2X |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011376951.0A CN112492545B (en) | 2020-11-30 | 2020-11-30 | Internet vehicle safety authentication method based on V2X |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112492545A CN112492545A (en) | 2021-03-12 |
| CN112492545B true CN112492545B (en) | 2023-01-24 |
Family
ID=74937791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011376951.0A Active CN112492545B (en) | 2020-11-30 | 2020-11-30 | Internet vehicle safety authentication method based on V2X |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112492545B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113774830A (en) * | 2021-05-27 | 2021-12-10 | 江苏特视智能科技有限公司 | Road safety pile system integrating meteorological monitoring function |
| CN117372970A (en) * | 2022-06-30 | 2024-01-09 | 比亚迪股份有限公司 | Vehicle detection method and controller |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109377778A (en) * | 2018-11-15 | 2019-02-22 | 济南浪潮高新科技投资发展有限公司 | A kind of collaboration automated driving system and method based on multichannel RDMA and V2X |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10966085B2 (en) * | 2018-09-28 | 2021-03-30 | Intel Corporation | Methods for autonomous authentication for vehicle-to-vehicle (V2V) communications in out-of-coverage scenarios |
| US11252567B2 (en) * | 2018-12-21 | 2022-02-15 | Intel Corporation | Methods and apparatus for detecting attacks in V2X networks |
-
2020
- 2020-11-30 CN CN202011376951.0A patent/CN112492545B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109377778A (en) * | 2018-11-15 | 2019-02-22 | 济南浪潮高新科技投资发展有限公司 | A kind of collaboration automated driving system and method based on multichannel RDMA and V2X |
Non-Patent Citations (2)
| Title |
|---|
| 公安交管视角下的车路协同技术探讨及应用;代磊磊等;《中国人民公安大学学报(自然科学版)》;20200215(第01期);全文 * |
| 车联网中基于自适应阈值的物理层安全身份认证方法;王宇鹏等;《沈阳航空航天大学学报》;20200825(第04期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112492545A (en) | 2021-03-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102135256B1 (en) | Method for user authentication of vehicle in autonomous driving system and apparatus thereof | |
| US11656619B2 (en) | Autonomous vehicle sensor security system | |
| DE102017102388B4 (en) | PROCEDURE FOR ADJUSTING ACCESS TO A VEHICLE | |
| US20190259227A1 (en) | Monitoring Quality of Care at Vehicle | |
| CN112492545B (en) | Internet vehicle safety authentication method based on V2X | |
| EP3614223A1 (en) | Method, system and emergency control device for traffic management of autonomous vehicles in emergency situations | |
| US20200118445A1 (en) | Method and apparatus for receiving of driving data in platooning in autonomous driving system | |
| CN114513543B (en) | Method, system and vehicle for device in vehicle | |
| DE102018113258A1 (en) | VEHICLE LOCATION AND GUIDANCE | |
| CN110363899B (en) | Method and device for detecting relay attack based on communication channel | |
| DE102020109191A1 (en) | SAFE BOOTING VEHICLE PROCESSORS | |
| US20210382969A1 (en) | Biometrics authentication method and apparatus using in-vehicle multi camera | |
| US20190147743A1 (en) | Vehicle guidance based on location spatial model | |
| EP3404639A1 (en) | Vehicle operation | |
| CN116321147A (en) | Zero trust-based multi-attribute terminal identity authentication method and system | |
| CN114745147A (en) | Method, vehicle and device performed by security gateway | |
| CN103971528B (en) | The implementation method of the intelligent traffic monitoring system interconnected with vehicle to be monitored | |
| KR101086900B1 (en) | Surrounding vehicles position identifying system using base station and identifying method between the base station and the vehicles | |
| US20230267834A1 (en) | System and method for detecting traffic pole attacks for vehicles | |
| US11145199B1 (en) | Apparatus and method for two-way signaling with traffic controllers over a wireless link | |
| EP3593554B1 (en) | Method, system and apparatuses for anticipating setup of trust relationship between first central vehicle and second vehicle | |
| CN116866864A (en) | Parking guiding method, device, equipment and storage medium | |
| EP3537739A1 (en) | Pre-authentication for v2x communication | |
| DE102022126039A1 (en) | ROBUST MAPPING OF A PHYSICAL AND A VIRTUAL IDENTITY | |
| CN116601938A (en) | Method for reassigning addresses to network devices |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20221215 Address after: 250101 building S02, 1036 Chaochao Road, high tech Zone, Jinan City, Shandong Province Applicant after: Shandong Inspur Scientific Research Institute Co.,Ltd. Address before: Floor 6, Chaochao Road, Shandong Province Applicant before: JINAN INSPUR HIGH-TECH TECHNOLOGY DEVELOPMENT Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |